基于T-S模型的非线性系统控制方法

Control method for nonlinear system based on T-S fuzzy model

采用T-S模糊模型逼近非线性系统,将非线性系统描述为多个局部线性系统的组合,采用极点配置的方法对每一局部线性系统进行设计,保证了局部线性系统的性能指标。利用线性矩阵不等式方法,将闭环控制系统的稳定条件、控制性能指标统一到线性矩阵不等式的框架内,通过求解线性矩阵不等式族获得控制器参数。以倒立摆系统为例,对提出的设计方法进行了验证,仿真结果表明设计方法是有效的。

Using T-S fuzzy model as an approximation to nonlinear system, the nonlinear system is described by the combination of local linear models. The pole placement design method is adopted to guarantee satisfactory control performance for each local linear system. The stable conditions of closed-loop T-S fuzzy systems and control performance are placed to a framework of linear matrix inequalities (LMIs), so the parameters of controller can be obtained by convex programming techniques for LMIs. The design method is verified through designing a tracking controller for an inverted pendulum using the proposed method and the simulation results demonstrate its efficiency.